对Peano-HASEL人工肌肉的生物启发激活策略
Zhaozhen Liu1, Harrison McAleese1, Andrew Weightman1
1Department of Mechanical and Aerospace Engineering, Medical Engineering Research Group, University of Manchester, Manchester, United Kingdom.
PloS one
|February 6, 2025
概括
生物灵感激活策略通过调节执行器的参与来提高人工肌肉的性能. 这种方法可以提高排位和速度,而无需进行硬件更改,尽管能效可能会下降.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物模拟学是一种生物模拟学.
- 材料科学 材料科学 材料科学
背景情况:
- 人类肌肉通过复杂的激活策略表现出多功能力量,位移和速度调节.
- 人工肌肉可以通过模仿这些生物灵感激活策略来实现增强的功能.
- 皮亚诺-液压放大自愈静电 (HASEL) 人造肌肉为探索先进激活方法提供了一个平台.
研究的目的:
- 研究各种激活策略对Peano-HASEL人工肌肉性能的影响.
- 分析激活对移位-时间反应,力-长度和力-速度关系的影响.
- 为了确定人工肌肉应用的最佳激活参数.
主要方法:
- 开发了一个Peano-HASEL人工肌肉的有限元模型,配有四个执行器,采用钻石配置.
- 应用生物灵感激活策略,改变执行器激活的数量,位置,配置,频率和阶段.
- 在不同的激活条件下模拟人工肌肉的反应.
主要成果:
- 增加激活执行器的数量增加了排量 (106%) 和收缩速度 (128%),但降低了能效 (47%).
- 对称和分阶段激活减轻了执行器扭曲;分阶段激活需要在侧执行器之前启动中间执行器.
- 激活信号的频率影响了移位模式;低频坡道信号有利于可控制的移位,而步骤信号提高了收缩速度 (325%).
结论:
- 激活策略显著提高多驱动器人工肌肉的功能,而无需硬件修改.
- 优化激活可以改善位移控制,收缩速度和输出力.
- 未来的研究应该探索复杂的人工肌肉安排和激活策略的实验验证.
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